This platform was created to showcase the techniques of autonomous systems that can navigate unknown areas without the use of input from a user. Using a simple control scheme and feedback from various sensors, this platform can navigate indoor spaces creating a history of where it has been for the purpose of mapping.
Scope
- STM32 Microcontroller
- Motor driver
- Ultrasonic Sensor
- Accelerometer
- Robot Chassis
- DC and Servo Motors
Approach
The approach for this platform was to use the STM32 microcontroller acting as the brains running algorithms to control the movement of the robot based on the feedback from the ultrasonic sensor and Accelerometer. The movement would run on a loop while capturing and logging range data from the ultrasonic sensor and movement data from the accelerometer. A command would be issued to move the robot, and it would wait for a preset distance to be reached before it would reach a wall based on the reading of the ultrasonic sensor. The accelerometer was used to give feedback if there was motion detected for cases when the range was not reading properly. During these cases the robot was designed to stop the motors and re-scan its surroundings with the ultrasonic sensor mounted on a servo motor which allowed for a wider area to gather data.
Significance
This project showcases the ability to integrate multiple hardware devices that require varying concepts and requirements.
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